Previous work directly focused on swarm engineering has focused on theoretically
derived algorithm design and/or provability of system
properties [1]}. In general, most recent work in
theoretical ([2]}, [3]}, [4]}, [5]}, [6]}, [7]})
or
heuristic ([8]}, [9]}, [10]}) control algorithms for swarms
focuses on the presentation of the algorithm, and possibly with proving
properties. However, very few works consider how to quantify the behavior of
the swarm in real world settings; one such work is [11]}. Consider which
of the following systems would have greater real-world utility: a heuristic control
algorithm with no provable guarantees but good performance on many problems of
interest, or a rigorously derived control algorithm with many theoretical guarantees
but relatively poor performance on real-world problems of interest? Depending on the
application parameters, stakeholders, and many other factors, either algorithm may be
considered the “best”.
